Modeling simulation method for robot body domain channel

Abstract

The invention provides a modeling simulation method for a robot body domain channel. A robot model can be used for simulating a robot needing to be developed in a virtual scene; collecting an antenna model corresponding to an antenna of a model needing to be used in an antenna library to simulate radiation characteristics of the antenna of the model represented by the antenna model; then, based on the interactive interface, the selected antenna module is installed on a related part of the robot model according to the needed position and direction; and finally, controlling the robot to move to adjust the pose so as to drive the part to adjust the position and the direction, thereby simulating a wireless channel between the antenna modules needing communication based on the adjusted pose and the radiation characteristics corresponding to the antenna modules, and evaluating the state of the wireless channel in the body area of the robot model under the pose. Therefore, a developer can obtain the state of the wireless channel in the body area of the robot model under various required poses, so that the developer can efficiently find problems, the efficiency of developing the robot is improved, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, in particular to the field of wireless communication technology simulation, and more particularly to a method for modeling and simulating a robot body channel. Background Art

[0002] With the rapid advancement of bionic robot technology, humanoid robots have become a hot topic in related research fields because they can adapt to human living environments and work scenarios and have the ability to replace humans in work services. [1] Humanoid robots are playing an increasingly important role in many fields due to their high flexibility and human-like interactive capabilities. Reference [2] points out that humanoid robots effectively complement the capabilities of human operators by improving production efficiency and quality and achieving autonomous learning and decision support through machine learning technology. Humanoid robots not only improve work efficiency and safety, but also bring new ways of communication and innovation opportunities to society, showing huge market potential.

[0003] The motion control of a robot is one of its most basic functions, which determines the robot's working ability and flexibility. In order to ensure that the robot has sufficient strength and flexibility, many sensors and motion control units are usually installed inside its body (also called the robot body, or the robot body domain), and these devices mainly communicate through dedicated cables. However, the space inside the robot is very limited, and the presence of a large number of cables increases the robot's maintenance cost and weight, while also limiting the range of motion and flexibility of its joints. Therefore, research and educational institutions around the world are exploring robot body domain wireless communication technology to meet the robot's information exchange and seamless connection needs when it moves freely, while reducing costs.

[0004] However, due to the complexity and diversity of the environment within the robot, signal transmission is affected by many factors, including multipath propagation, random attenuation, shadow attenuation, Doppler effect, and noise. At present, designers often need to continuously adjust the positions and models of multiple wireless antennas on the robot body based on experience on site to optimize to a relatively good communication state. This empirical and purely on-site optimization of antenna settings will seriously affect the development progress of humanoid robots or other types of robots, and will also lead to higher development costs.

[0005] The information of the above documents is as follows:

[0006] [1] Liu Hongji. Research on gait planning and motion control of humanoid robots based on optimization method[D]. Shandong University, 2023.DOI:10.27272 / d.cnki.gshdu.2023.002989.

[0007] [2]Mukherjee D,Gupta K,Chang LH,et al.A survey of robot learning strategies for human-robot collaboration in industrial settings[J].Roboticsand Computer-Integrated Manufacturing,2022,73:102231.

[0008] It should be noted that this background technology is only used to introduce the relevant information of the present invention to help understand the technical solution of the present invention, but it does not mean that the relevant information is necessarily the prior art. The relevant information is submitted and disclosed together with the present invention solution. If there is no evidence that the relevant information has been disclosed before the application date of the present invention, the relevant information shall not be regarded as the prior art. Summary of the invention

[0009] Therefore, the purpose of the present invention is to overcome the defects of the prior art and provide a method for modeling and simulating a robot body channel.

[0010] The objective of the present invention is achieved through the following technical solutions:

[0011] According to a first aspect of the present invention, there is provided a method for modeling and simulating a robot body channel, comprising: obtaining a robot model constructed for a simulated robot, the robot model comprising a plurality of components and associated components being movably connected via joints; obtaining a constructed antenna library comprising a plurality of antenna modules for selection, each antenna module being capable of simulating the radiation characteristics of an antenna of the model it represents; providing an interactive interface capable of displaying the robot model and the antenna module from a user's desired perspective, and a functional module capable of receiving user operations so as to install the antenna module selected from the antenna library onto the associated components of the robot model in the desired position and orientation; controlling the robot model to adjust its posture and drive the antenna modules on the components to adjust their positions and orientations, simulating the wireless channels between the antenna modules that need to communicate based on the adjusted posture and the corresponding radiation characteristics of the antenna modules, and evaluating the state of the wireless channel within the body of the robot model at the posture.

[0012] Optionally, each antenna module includes a base for representing the antenna body and a direction indicator for setting the directionality of the antenna, wherein when installing the antenna module, an interactive interface is provided to visually display the base and direction indicator of the antenna module, the components and position to which the antenna module is attached are set by deploying the base, and the direction of the antenna module is set by adjusting the orientation of the direction indicator. This solution can at least achieve the following beneficial technical effects: by setting the base to place the position of the antenna model and the components to which it is attached, it is convenient to place the antenna model at the location that the developer wants to simulate and to allow the antenna model to move with the components, so as to obtain various simulated postures for simulation; in addition, the direction indicator is used to independently adjust the directionality of the signal transmitted by the antenna model, thereby reducing the inconvenience that may be caused by using one base to adjust the position and antenna directionality at the same time, and improving the efficiency of the simulation.

[0013] Optionally, each antenna module further includes a directional diagram for indicating the radiation characteristics of the antenna model it represents, wherein each direction indicator of the antenna module is associated one-to-one with a corresponding direction in the directional diagram. This solution can at least achieve the following beneficial technical effects: combining the directional diagram to better simulate the radiation characteristics of the antenna of the relevant model and improve the simulation effect.

[0014] Optionally, the process of evaluating the state of the wireless channel in the robot model body under the posture includes: obtaining multiple bandwidths and multiple signal-to-noise ratios to generate a combination of bandwidth-signal-to-noise ratio to be simulated according to user needs; according to each combination to be simulated, evaluating the channel state between antenna modules that need to communicate, the channel state includes the overall total channel capacity and / or average channel capacity under the combination, and / or the channel capacity of each sub-channel formed between antenna modules that need to communicate. This solution can at least achieve the following beneficial technical effects: presetting multiple bandwidths and multiple signal-to-noise ratios so that the combination of bandwidth-signal-to-noise ratio to be simulated can be selected according to user needs, thereby efficiently simulating the channel capacity under these combinations, and facilitating developers to efficiently select antennas and / or optimize the position and direction of deployment according to actual communication needs and simulation results.

[0015] Optionally, the process of evaluating the state of the wireless channel in the body of the robot model under the posture includes: controlling the movement of the robot model, sampling multiple postures during the movement; based on each sampled posture, respectively evaluating the state of the wireless channel in the body of the robot model under the posture; based on the timing of the sampled postures, graphically displaying the change of the state of the wireless channel in the body during the movement of the robot model, or based on the timing of the sampled postures, graphically displaying the change of the state of the wireless channel in the body during the movement of the robot model and the change of the posture of the corresponding robot. This scheme can at least achieve the following beneficial technical effects: because the relative position between the antenna modules and the direction of the antenna module sending the signal will change dynamically at different positions of the robot, the method of the present invention analyzes by sampling multiple postures of continuous movement during the movement of the robot model, and graphically displaying the change of the state of the wireless channel in the body during the movement of the robot model in a timing manner, so as to facilitate developers to find the correlation between the posture change caused by the robot's movement state and the change of the state of the wireless channel, so as to better optimize.

[0016] Optionally, the antenna modules in the antenna library include multiple antenna models based on 6G technology, which are used to simulate the 6G channel state within the robot body; and / or the antenna modules in the antenna library include multiple antenna models based on centimeter waves for communication, which are used to simulate the channel state based on centimeter waves for communication within the robot body. This solution can at least achieve the following beneficial technical effects: 6G technology has a wider bandwidth and can better support the communication needs of robots. The method of the present invention sets 6G technology and / or multiple antenna models based on centimeter waves for communication in the antenna library, which can better provide relevant simulation support and improve development efficiency.

[0017] Optionally, multiple antenna modules provided on the robot model are used to simulate the channel state of a SISO, SIMO, MISO or MIMO channel.

[0018] Optionally, the robot model is a model for simulating a humanoid robot, and the multiple components include components corresponding to the head, neck, shoulders, chest and abdomen, arms, hands, legs and feet of the humanoid robot. The robot model is a model for simulating an animal-shaped robot, and the multiple components include components corresponding to the head, neck, torso, legs and feet of the animal-shaped robot. This solution can at least achieve the following beneficial technical effects: by constructing a humanoid robot model or an animal-shaped robot model, it is convenient to improve the efficiency of developing robots of related forms.

[0019] According to a second aspect of the present invention, there is provided a computer program product, comprising a computer program / instruction, which implements the steps of the method described in the first aspect when executed by a processor.

[0020] According to a third aspect of the present invention, there is provided an electronic device, comprising: one or more processors; and a memory, wherein the memory is used to store executable instructions; the one or more processors are configured to implement the steps of the first method by executing the executable instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The embodiments of the present invention are further described below with reference to the accompanying drawings, in which:

[0022] Figure 1 A schematic diagram of a flow chart of a method for modeling and simulating a robot body channel according to an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of a robot model according to an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a radiation pattern of a Radial 6.0 Hz antenna according to an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the directional pattern of a patchMicrostripEnotch6.0Hz antenna according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of a robot model after antenna modules are arranged according to an embodiment of the present invention;

[0027] Figure 6 is a schematic diagram of a robot model from another perspective after antenna modules are arranged according to an embodiment of the present invention;

[0028] Figure 7 A schematic diagram of simulating and calculating channel capacity according to an example of the present invention;

[0029] Figure 8 A schematic diagram of the sequence of loading a robot model and an antenna according to an example of the present invention;

[0030] Fig. 9 It is a schematic diagram of the change of the MISO wireless channel capacity of the robot body under different bandwidths and SNRs when R uses a 6.0Hz antenna according to an embodiment of the present invention;

[0031] Fig.10 It is a schematic diagram of the change of the MISO wireless channel capacity of the robot body under different bandwidths and SNRs when using the patchMicrostripEnotch6.0Hz antenna according to an embodiment of the present invention;

[0032] Fig.11Schematic diagram of changes in channel capacity of the head, hands, and feet of a robot in different postures when using a Radial 6.0 Hz antenna according to an embodiment of the present invention;

[0033] Fig.12 Schematic diagram of changes in channel capacity of the robot's head, hands, and feet in different postures when using the patchMicrostripEnotch6.0Hz antenna according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] As mentioned in the background technology section, the existing experience-based and purely on-site optimization of antenna settings will seriously affect the development progress of humanoid robots or other types of robots, and will also lead to higher development costs. When using wireless antennas for communication between robot-related components, the position of the antenna will continue to change when the robot moves, so the channel state of the antenna initially debugged in a static environment will also change. This makes it difficult for developers to grasp the relevant changes, resulting in difficulty in optimizing the problem even if problems with the quality of wireless communication are found.

[0036] In this regard, the method of the present invention can simulate the robot to be developed with the constructed robot model in a virtual scene; collect the antenna models corresponding to the antenna models to be used in the antenna library to simulate the radiation characteristics of the antenna models represented by them; then based on the interactive interface, under the operation of the user, the selected antenna module is installed on the relevant components of the robot model in the required position and direction; finally, the robot is controlled to move and adjust the posture to drive the components to adjust the position and direction, so as to simulate the wireless channel between the antenna modules to be communicated based on the adjusted posture and the radiation characteristics corresponding to the antenna module, and evaluate the state of the wireless channel in the robot model body under the posture; thereby, the developer can obtain the state of the wireless channel in the robot model body under various required postures, so that the developer can efficiently find the problem; and the developer can also adjust the simulated antenna type by replacing the antenna model, efficiently adjust the position and / or direction of the antenna model setting in the interactive interface, and evaluate the state of the wireless channel again when the antenna type, position and / or direction are adjusted, so as to efficiently optimize the selection, position and orientation of the antenna to be deployed, so as to improve the efficiency of developing the robot and reduce the development cost.

[0037] According to one embodiment of the present invention, see Figure 1, a method for modeling and simulating a robot body channel is provided, including: S1, S2, S3 and / or S4. In order to better understand the present invention, each step is described in detail below in conjunction with specific embodiments.

[0038] Step S1: Obtain a robot model constructed for the simulated robot, which includes multiple components and associated components are movably connected through joints.

[0039] According to an optional embodiment of the present invention, robots of different shapes and / or structures may be simulated according to the needs of different developers (users). Therefore, it is possible to consider setting up a compatible interface to directly obtain the robot model drawn by the developer himself in a certain software (such as Creo, SolidWorks, etc.), so as to efficiently obtain the robot model designed by the developer in the mechanical structure design stage. Using a compatible interface to obtain the model constructed by third-party software can reduce the difficulty of implementing the method of the present invention.

[0040] According to another optional embodiment of the present invention, of course, a drawing function can also be provided so that developers can directly draw the required model. The method also includes: providing a three-dimensional modeling function for drawing a robot model based on an interactive interface.

[0041] According to an embodiment of the present invention, the mass and / or material of each component of the robot can be set, and the gravity of the space where the robot is located can be set to better perform simulation.

[0042] According to one embodiment of the present invention, for the robot components, the material and its influence on electromagnetic waves may not be set, so as to simulate only the influence of posture on the channel state. However, in order to better simulate the influence of the robot components on electromagnetic waves, further improvements can be made. Optionally, the method also includes: for the robot components, setting the material of the component and / or the reference parameters of the absorption and / or reflection of the electromagnetic waves by the material, so as to introduce the influence of the reference parameters when evaluating the channel state.

[0043] According to another embodiment of the present invention, a robot model library can also be provided, and when the developer's robot is similar to the robot model in the robot model library, the developer can directly call it to further improve the development efficiency. The method also includes: providing a robot model library, and the robot model library includes a variety of robot models. Preferably, the robot model library includes a model for simulating a humanoid robot and / or a model for simulating an animal robot. Among them, the model for simulating a humanoid robot includes the parts corresponding to the head, neck, shoulder, chest and abdomen, arms, hands, legs and feet of the humanoid robot. The model for simulating an animal robot includes the parts corresponding to the head, neck, torso, legs and feet of the animal robot. In addition, according to the form of the robot used for simulation, some parts may have multiple parts, such as: 2 hands, 4 feet, etc. The associated parts are connected by joints to simulate the relative position and connection relationship between the motion components of the robot; for example, the connection between the shoulder of the humanoid robot model and the left hand and right hand, etc.

[0044] According to an example of the present invention, see Figure 2 , providing a schematic humanoid robot including a head, shoulders, chest and abdomen, legs, hands and arms, and a schematic process of constructing its corresponding robot model includes:

[0045] Step 101: Create a plane module to simulate the ground supporting the robot, define contact properties, and visualize the plane;

[0046] Step 102, creating a robot model, including: creating corresponding parts of the head, shoulders, chest and abdomen, legs, hands and arms according to the structure of the robot, and using joints to flexibly connect the related parts based on the relative motion relationship to simulate the humanoid robot in the scene. Each part can be set as a separate collision module, and each part cannot invade the space range of the other;

[0047] Step 103, define the inertia tensor for each collision module to ensure that each part can exhibit reasonable rotation and movement when subjected to external force. The setting of the inertia tensor is based on the shape and mass distribution of each part to ensure that the rotation behavior in the simulation complies with physical laws;

[0048] Step 104: Set angle limits for each joint to ensure that the movement of the robot model is within the normal physiological range of humans. An initial posture can be set for the robot model so that it is in a standing state at the beginning of the simulation. For example, schematically, in the initial posture, the robot model has its hands spread out and its feet standing side by side.

[0049] Step S2: Acquire a constructed antenna library, which includes a variety of antenna modules for selection, and each antenna module can be used to simulate the radiation characteristics of the antenna model it represents.

[0050] According to one embodiment of the present invention, antenna models corresponding to various types of antennas are pre-stored in the antenna library for developers to choose from. For example: patchMicrostripEnotch6.0Hz antenna and / or Radial6.0Hz antenna. Moreover, implementers or antenna providers / manufacturers / users may also update the antenna library regularly or irregularly to support the simulation of more new types of antennas. In addition, developers may also add antenna models corresponding to the required antennas according to the specifications of the antenna models set in the antenna library to meet the simulation of certain non-standard antennas.

[0051] According to an optional embodiment of the present invention, each antenna module includes a base for representing the antenna body. The position and direction of the antenna module are adjusted simultaneously by setting the base. The position of the coordinate system of the directional pattern corresponding to the represented antenna module on the base is marked on the base, and the coordinate system of the corresponding directional pattern is displayed when the base is set, so that the direction of the antenna module can be adjusted by adjusting the setting angle of the base.

[0052] According to an optional embodiment of the present invention, considering that setting a base to adjust the position and direction of the antenna module at the same time may be inconvenient, another implementation method may be considered. Each antenna module includes a base for representing the antenna body and a direction indicator for setting the directivity of the antenna. Optionally, since the coordinate system of the directional pattern includes three axes: x, y and z axes, three directional marks (such as cylinders or arrows) at 90° to each other can be used to represent the three axes to form a direction indicator. In addition, because the pointing vector of another axis can be determined by the cross product of the pointing vectors of two directional axes, only two directional marks can be set to represent the x-axis and the z-axis to form a direction indicator, and the direction setting of the antenna module is completed by setting the direction indicators of the x-axis and the z-axis.

[0053] According to an embodiment of the present invention, each antenna module also includes a directional diagram for indicating the radiation characteristics of the antenna model it represents. Each directional indicator of the antenna module is associated with a corresponding direction in the directional diagram. When displaying the directional diagram, the structure and parameters of the antenna can also be displayed accordingly. As an example, Figure 3 Provides a schematic radiation pattern of the Radial6.0Hz antenna. Figure 4 A schematic directional diagram of the patchMicrostripEnotch6.0Hz antenna is provided, wherein the x-axis represents the horizontal pointing vector, the z-axis represents the vertical pointing vector, and the y-axis represents the remaining pointing vector.

[0054] According to one embodiment of the present invention, the antenna modules in the antenna library include a variety of antenna models for communication based on centimeter waves, which are used to simulate the channel state of communication based on centimeter waves within the robot body.

[0055] According to one embodiment of the present invention, the antenna modules in the antenna library include a plurality of antenna models based on 6G technology, which are used to simulate the 6G channel status within the robot body domain; and / or a plurality of antenna models based on 5G technology, which are used to simulate the 5G channel status within the robot body domain.

[0056] Step S3: Provide an interactive interface that can display the robot model and antenna module from the user's desired perspective, and a functional module that can receive user operations to install the antenna module selected from the antenna library to the relevant components of the robot model in the desired position and direction.

[0057] According to one embodiment of the present invention, installing on a relevant component of the robot model may refer to installing inside the component or on the surface of the component, etc.

[0058] According to an optional embodiment of the present invention, a function of parameterizing the position and / or direction of the antenna module may be provided to the user. For example, referring to Table 1, the user provides the position parameters of the antennas of various components, and the position of the corresponding antenna module is set based on the position parameters of the antennas of various components.

[0059] Table 1

[0060]

[0061] The direction of the antenna module may also be set in a parameter manner, or, after setting the position of each antenna module, the user may set the direction of each antenna module through a direction indicator.

[0062] According to another optional embodiment of the present invention, in order to facilitate operation, another operation mode can be provided to set the position and direction of the antenna. For example: select an antenna module from the antenna library, display the robot model and the selected antenna module in the interactive interface at the same time, visually provide matching options between the antenna module and various components, determine the component to which the antenna module is attached by matching, and complete the position setting of the antenna module by setting the relative position between the antenna module and the attached component, other components or global reference coordinates. After the position of the antenna module is set, an initial direction can be given to the antenna module, and the user can adjust the direction of the antenna module as needed. When adjusting the direction of the antenna module, the direction indicator can be rotated with reference to the coordinate axis set on the robot model or the coordinate axis of the global coordinate system, thereby completing the direction setting. Since the antenna directional diagram includes three directions, x, y and z, usually, two direction indicators can be given, one direction indicator is used to represent the horizontal pointing vector x, and the other direction indicator is used to represent the vertical pointing vector z, so that the direction setting of the antenna module is completed by setting the angles of the two direction indicators. The other pointing vector y does not need to set a direction indicator, because it can be determined by the cross product of the horizontal pointing vector x and the vertical pointing vector z.

[0063] According to one embodiment of the present invention, the multiple antenna modules provided on the robot model can be used to simulate the channel state of a SISO, SIMO, MISO or MIMO channel. To reduce the influence of simulated interference, it is preferably used to simulate a SISO channel or a MISO channel.

[0064] According to an example of the present invention, assuming that Figure 2 The robot model shown is provided with an antenna module, which includes a base, an antenna pattern, a vertical pointing vector of the antenna, and a direction indicator corresponding to a horizontal pointing vector of the antenna (in this example, the initial directions of the two indicators are assumed to be the same). The base is a collision module. A schematic process for setting the antenna module is provided:

[0065] Step 201: select an antenna module of a certain model, select the working frequency of the antenna, and generate the radiation pattern of the antenna. The radiation pattern of the antenna is a graphical representation showing the distribution of the intensity of radio waves radiated or received by the antenna in different spatial directions, and is used to evaluate and optimize the performance of the antenna. By giving the horizontal angle and vertical angle of the antenna for transmission and reception, the gain of the antenna in this direction can be obtained.

[0066] Step 202, setting the properties of the antenna module, setting the base of the antenna as a collision module, setting the two direction indicators as non-collision modules, and using two cylinders to represent the direction indicators of the vertical pointing vector of the antenna and the horizontal pointing vector of the antenna respectively;

[0067] Step 203, setting the position of the head antenna: the base is set on the head, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis (y-axis of the global coordinate system, the same below), and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0068] Step 204, setting the position of the neck antenna: the base is set on the neck, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0069] Step 205, setting the right shoulder antenna position: the base is set on the right shoulder, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0070] Step 206, setting the left shoulder antenna position: the base is set on the left shoulder, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0071] Step 207, setting the position of the left arm antenna: the base is set on the left arm, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90 degrees along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0072] Step 208, setting the position of the right arm antenna: the base is set on the right arm, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0073] Step 209, setting the antenna position on the left hand: the base is set on the left hand, the direction indicator corresponding to the vertical pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the horizontal pointing vector is not deflected;

[0074] Step 210, setting the right hand antenna position: the base is set at the right hand, the direction indicator corresponding to the vertical pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the horizontal pointing vector is not deflected.

[0075] Step 211, setting the position of the chest antenna: the base is set on the chest, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0076] Step 212, setting the position of the abdomen antenna: the base is set on the abdomen, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90 degrees along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0077] Step 213, setting the antenna position on the right thigh: the base is set on the right thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0078] Step 214, setting the antenna position on the right calf: the base is set on the right thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90 degrees along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0079] Step 215, setting the right foot antenna position: the base is set on the right foot, the direction indicator corresponding to the vertical pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the horizontal pointing vector is not deflected;

[0080] Step 216, setting the antenna position on the left thigh: the base is set on the left thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90 degrees along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0081] Step 217, setting the antenna position on the left calf: the base is set on the left thigh, the direction indicator corresponding to the horizontal pointing vector of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the vertical pointing vector is not deflected;

[0082] Step 218, setting the left foot antenna position: the base is set on the left foot, the direction indicator corresponding to the vertical and horizontal pointing vectors of the antenna is rotated 90° along the y-axis, and the direction indicator corresponding to the horizontal pointing vector is not deflected.

[0083] Correspondingly, the robot model with antenna module after setting is as follows Figure 5 and Figure 6 shown.

[0084] Step S4: Control the robot model to adjust its posture and drive the antenna module on the component to adjust its position and direction. Based on the adjusted posture and the corresponding radiation characteristics of the antenna module, simulate the wireless channel between the antenna modules that need to communicate, and evaluate the state of the wireless channel in the robot model body under this posture.

[0085] According to one embodiment of the present invention, the process of evaluating the state of the wireless channel within the body of the robot model in this posture includes: obtaining multiple bandwidths and multiple signal-to-noise ratios to generate a combination to be simulated consisting of bandwidth-signal-to-noise ratio according to user needs and / or a fixed combination; based on each combination to be simulated, evaluating the channel state between antenna modules that need to communicate, the channel state includes the overall total channel capacity and / or average channel capacity under the combination, and / or the channel capacity of each sub-channel formed between antenna modules that need to communicate.

[0086] According to one embodiment of the present invention, the process of evaluating the state of the wireless channel in the body domain of the robot model under the posture includes: controlling the movement of the robot model, sampling multiple postures during the movement; based on each of the sampled postures, respectively evaluating the state of the wireless channel in the body domain of the robot model under the posture; based on the temporal sequence of the sampled postures, graphically displaying the change of the state of the wireless channel in the body domain during the movement of the robot model, or based on the temporal sequence of the sampled postures, graphically displaying the change of the state of the wireless channel in the body domain during the movement of the robot model and the change of the posture of the corresponding robot. Optionally, the control of the movement of the robot model can be implemented by using a preset posture control module, which can load the posture control sequence of the robot model, and the posture control sequence includes multiple posture frames, and each posture frame is set with the posture information of each joint point, so as to control the movement of the robot module. The posture control sequence can include posture frames of the actions commonly used by the simulated robot when performing tasks and / or posture frames of extreme actions (such as the limit of raising hands, the limit of kicking legs, etc.). Thus, the channel state under multiple postures can be better obtained.

[0087] It should be noted that there are many prior arts in the art for calculating channel status, such as channel capacity. The method of the present invention can refer to the existing channel status evaluation algorithm to evaluate the channel status, and the present invention does not impose any limitation on this.

[0088] According to an example of the present invention, assuming that the receiving antenna in the body wireless communication system corresponding to the simulated robot is the chest antenna, and the antennas located in the rest of the robot's body are the transmitting antennas, then the system is a MISO system, and a MISO channel is simulated. The channel state to be calculated is the channel capacity. The different days can be calculated based on the position of the antenna on the robot and the antenna's directional diagram, and the channel capacity can be calculated. The following is a schematic calculation method for the channel capacity of a MISO channel:

[0089] First, the small-scale fading of the Line of Sight (LOS) path between different antennas is calculated based on the position and direction of the antenna module on the robot model and the antenna's directional diagram, including:

[0090] Step 301: Obtain the three-dimensional coordinates of the transmitting antenna and the receiving antenna on the robot model, as well as the horizontal pointing vector and the vertical pointing vector of the transmitting antenna and the receiving antenna; wherein the coordinates of the transmitting antenna are represented as p t , the coordinates of the receiving antenna are represented by p r , the horizontal pointing vector of the transmitting antenna is expressed as The horizontal pointing vector of the receiving antenna is expressed as The vertical pointing vector of the transmitting antenna is expressed as The vertical pointing vector of the receiving antenna is expressed as

[0091] Step 302: Construct a Cartesian coordinate system for the receiving antenna to obtain and Post-calculation and The cross product of Its calculation formula can be expressed as

[0092]

[0093] Step 303: Based on the 6G universal channel model, the small-scale fading of the Loss path between the antennas is calculated through the relative positions of the transmitting and receiving antennas and the directional patterns of the transmitting and receiving antennas. The difference between the coordinates of the transmitting antenna and the coordinates of the receiving antenna can be calculated to obtain the receiving vector v r , and its calculation formula can be expressed as:

[0094] v r =p t -p r (1.2)

[0095] Step 304: After standardization, the Cartesian coordinate system of the receiving antenna is used to calculate the receiving horizontal angle of the receiving antenna. and receiving vertical angle First, we need to calculate v r The z-axis component in the Cartesian coordinate system of the receiving antenna The calculation formula is as follows

[0096]

[0097] Then calculate v r The component in the xy plane of the Cartesian coordinate system of the receiving antenna The calculation formula is as follows

[0098]

[0099] calculate and The angle between The formula for calculating the angle between two vectors is as follows

[0100]

[0101] Replace v1 with v2 is replaced by The calculated result θ is the receiving horizontal angle of the receiving antenna Replace v1 with v r and v2 replaced with Substitute it into formula (1.5), and the result is the vertical angle of the receiving antenna. There are two special cases to consider when calculating. r and When the angles are 0° and 180°, is 0°, when v r and When the angle is 0°, is 0°.

[0102] Step 305: Calculate the gain of the horizontal receiving direction of the receiving antenna and vertical gain according to And the directional pattern of the receiving antenna to obtain the gain of the receiving antenna in this direction is recorded as The calculation formula is as follows

[0103]

[0104] The calculation formula is as follows

[0105]

[0106] Step 306: Create two random phases that obey the uniform distribution of (0, 2π] Creating a Matrix

[0107] Step 307: Create a Faraday rotation angle matrix F r , the calculation formula is as follows

[0108]

[0109] in, f c is the antenna frequency in GHz.

[0110] Step 308: Construct a Cartesian coordinate system for the transmitting antenna to obtain and Post-calculation and The cross product of Its calculation formula can be expressed as

[0111]

[0112] And calculate the transmission vector v of the transmitting antenna t , the calculation formula is as follows

[0113] v t =p r -p t(1.10)

[0114] Step 309: After standardization, the Cartesian coordinate system of the transmitting antenna is used to calculate the transmitting horizontal angle of the transmitting antenna. and send vertical angle First, use formula (1.3) to calculate v t The z-axis component in the Cartesian coordinate system of the receiving antenna Use formula (1.4) to calculate v t Components in the xy plane of the Cartesian coordinate system of the transmitting antenna Calculate according to formula (1.5) and The angle between v t and Substitute it into formula (1.5), and the result is: Two special cases need to be considered. t and When the angles are 0° and 180°, is 0°, when v t and When the angle is 0°, is 0°.

[0115] Step 310: Calculate the gain of the horizontal transmission direction of the transmitting antenna and vertical gain according to And the directional pattern of the receiving antenna obtains the gain of the receiving antenna in this direction and is recorded as Calculate according to the following formula similar to formula (1.6) and formula (1.7):

[0116]

[0117] Step 311: Calculate the Los component of the line of sight at this time The calculation formula is as follows

[0118]

[0119] in, is the delay of the LoS path at time t, and δ is the activation function.

[0120] Then, based on the posture of the robot model and the position of the antenna on the robot model, the channel state information between the point-to-point antennas is calculated, including:

[0121] Step 401: According to Shannon's formula, the channel capacity can be expressed as

[0122]

[0123] Among them, C is the channel capacity, B is the channel bandwidth, S is the signal power, N is the noise power, SNR (dB) is the signal-to-noise ratio, and the signal-to-noise ratio and The conversion formula between them is as follows

[0124]

[0125]

[0126] Step 402: After the signal sent by the transmitting antenna passes through the channel, the signal received by the receiving antenna can be expressed by the formula:

[0127] A r =HA t +A n (1.15)

[0128] Among them, A r represents the signal received by the receiving end, H represents the channel, A t Indicates the sending signal, A n Indicates channel noise. Since the power of noise is smaller than the power of signal in 6G channel, the signal-to-noise ratio can be expressed as follows:

[0129]

[0130] Among them, SNR t (dB) represents the signal-to-noise ratio of the transmitting antenna, P r and P n They represent the power of the received signal and the power of the noise signal respectively.

[0131] Step 403: Calculate the point-to-point small-scale fading. The calculation formula is as follows:

[0132]

[0133] Among them, K R (t) is the Rice factor, is the line-of-sight component of the NLos path.

[0134] When the capacity provided by the NLoS path accounts for a small proportion, the NLoS path can be ignored, and the alternative small-scale fading calculation formula is as follows:

[0135]

[0136] Step 404: Calculate channel H. Channel H consists of small-scale fading and path loss. The channel model in this example only considers Loss channel and path loss. Its expression formula is as follows:

[0137] H=PL 1 / 2 H s (1.19)

[0138] Where PL represents PL path loss;

[0139] The PL channel capacity is as follows

[0140]

[0141] Thus, the capacity of the channel between the robot's chest receiving antenna and other antennas in a specific posture can be calculated.

[0142] According to another example of the present invention, a method for channel modeling simulation based on a robot model is provided, such as Figure 7 and Figure 8 As shown, including:

[0143] Step 1: Load the robot model and antenna model. The antenna model contains the antenna pattern (including antenna direction information), including:

[0144] Step 101, load the robot, the robot weight is 79.4 kg, the height is 176 cm. The robot has fifty joint connection points, which are used to simulate the humanoid robot in the scene. According to the data in Table 1, set the base of the antenna relative to the robot body module position, the vertical module relative to the base position, and the horizontal module relative to the base position;

[0145] Step 102: Load the chest antenna position, and mark the chest antenna as Antenna chest , the vertical transmission direction of the chest-loaded antenna is denoted as z chest , the horizontal transmission direction of the chest antenna is denoted as x chest , z chest and x chest Substitute into formula (1.9) to calculate y chest ;

[0146] Step 103: Load the position of the abdomen antenna, and mark the abdomen antenna as Antenna abdomen , the vertical transmission direction of the belly-loaded antenna is denoted as z abdomen , the horizontal transmission direction of the abdominal antenna is denoted as x Abdomen , z Abdomen and x Abdomen Substitute into formula (1.9) to calculate y Abdomen ;

[0147] Step 104: Load the head antenna position, and mark the head antenna as Antenna head , the vertical transmission direction of the loading head antenna is recorded as z head, the horizontal transmission direction of the head antenna is recorded as x head , z head and x head Substitute into formula (1.9) to calculate y head ;

[0148] Step 105: Load the neck antenna position, and mark the neck antenna as Antenna neck , the vertical transmission direction of the loaded neck antenna is denoted as z neck , the horizontal transmission direction of the neck antenna is denoted as x neck , z neck and x head Substitute into formula (1.9) to calculate y neck ;

[0149] Step 106: Load the right shoulder antenna position. The right shoulder antenna is marked as Antenna. rightShoulder , the vertical transmission direction of the right shoulder antenna is recorded as z rightShoulder , the horizontal transmission direction of the right shoulder antenna is denoted as x rightShoulder , z rightShoulder and x rightShoulder Substitute into formula (1.9) to calculate y rightShoulder ;

[0150] Step 107: Load the right arm antenna position. The right arm antenna is marked as Antenna. rightArm , the vertical transmission direction of the right arm antenna is recorded as z rightArm , the horizontal transmission direction of the right arm antenna is recorded as x rightArm , z rightArm and x rightArm Substitute into formula (1.9) to calculate y rightArm ;

[0151] Step 108: Load the right hand antenna position. The right hand antenna is marked as Antenna. rightHand , the vertical transmission direction of the right-hand antenna is recorded as z rightHand , the horizontal transmission direction of the right-hand antenna is denoted as x rightHand , z rightHand and x rightHand Substitute into formula (1.9) to calculate y rightHand ;

[0152] Step 109: Load the left shoulder antenna position. The left shoulder antenna is marked as Antenna. leftShoulder , the vertical transmission direction of the left shoulder antenna is recorded as z leftShoulder , the horizontal transmission direction of the left shoulder antenna is recorded as x leftShoulder , z leftShoulder and x leftShoulderSubstitute into formula (1.9) to calculate y leftShoulder ;

[0153] Step 110: Load the position of the left arm antenna. The left arm antenna is marked as Antenna. leftArm , the vertical transmission direction of the left arm antenna is recorded as z leftArm , the horizontal transmission direction of the left arm antenna is recorded as x leftArm , z leftArm and x leftArm Substitute into formula (1.9) to calculate y leftArm ;

[0154] Step 111: Load the left hand antenna position, and mark the left hand antenna as Antenna leftHand , the vertical transmission direction of the left hand antenna is recorded as z leftHand , the horizontal transmission direction of the left hand antenna is recorded as x leftHand , z leftHand and x leftHand Substitute into formula (1.9) to calculate y Hand ;

[0155] Step 112: Load the left thigh antenna position. The left thigh antenna is marked as Antenna. leftUpperLeg , the vertical transmission direction of the antenna loaded on the left thigh is recorded as z leftUpperLeg , the horizontal transmission direction of the left thigh antenna is recorded as x leftUpperLeg , z leftUpperLeg and x leftUpperLeg Substitute into formula (1.9) to calculate y leftUpperLeg ;

[0156] Step 113: Load the left calf antenna position. The left calf antenna is marked as Antenna. leftLowerLeg , the vertical transmission direction of the antenna loaded on the left calf is recorded as z leftLowerLeg , the horizontal transmission direction of the left calf antenna is denoted as x leftLowerLeg , z leftLowerLeg and x leftlowerLeg Substitute into formula (1.9) to calculate y leftLowerLeg ;

[0157] Step 114: Load the left foot antenna position. The left foot antenna is marked as Antenna. leftFoot , the vertical transmission direction of the left foot antenna is recorded as z leftFoot , the horizontal transmission direction of the left foot antenna is recorded as x leftFoot , z leftFoot and x leftFoot Substitute into formula (1.9) to calculate y leftFoot ;

[0158] Step 115: Load the right thigh antenna position. The right thigh antenna is marked as Antenna. rightUpperLeg , the vertical transmission direction of the antenna loaded on the right thigh is recorded as z rightUpperLeg , the horizontal transmission direction of the right thigh antenna is recorded as x rightUpperLeg , z rightUpperLeg and x rightUpperLeg Substitute into formula (1.9) to calculate y rightUpperLeg ;

[0159] Step 116: Load the right calf antenna position. The right calf antenna is marked as Antenna. rightLowerLeg , the vertical transmission direction of the antenna loaded on the right calf is recorded as z rightLowerLeg , the horizontal transmission direction of the right calf antenna is recorded as x rightLowerLeg , z rightLowerLeg and x rightlowerLeg Substitute into formula (1.9) to calculate y rightLowerLeg ;

[0160] Step 117: Load the right foot antenna position. The right foot antenna is marked as Antenna. rightFoot , the vertical transmission direction of the right foot antenna is recorded as z rightFoot , the horizontal transmission direction of the right foot antenna is recorded as x rightFoot , z rightFoot and x rightFoot Substitute into formula (1.9) to calculate y rightFoot ;

[0161] Step 2: Load the robot posture and calculate the channel capacity between each transmitting antenna and receiving antenna, where the receiving antenna is the chest antenna and the rest are transmitting antennas, including:

[0162] Step 201, load the robot posture, update the positions of all antennas, and the antenna's transmission vectors x, y, z;

[0163] Step 202: Calculate the vertical receiving angle and horizontal receiving angle of the receiving antenna, and use formula (1.2) to calculate the receiving vector v between each receiving antenna and each transmitting antenna. r , use formula (1.3) (1.4) (1.5) to calculate the vertical angle and horizontal angle of the receiving antenna and each transmitting antenna, respectively recorded as Use formula (1.6) (1.7) to obtain the receiving direction gain matrix

[0164] Step 203: Create two random phases that obey the uniform distribution of (0,2π] Creating a Matrix Create the Faraday rotation angle matrix F according to formula (1.8)r ;

[0165] Step 204: Calculate the vertical angle and horizontal angle of the transmitting antenna, and use formula (1.2) to calculate the receiving vector v between each transmitting antenna and receiving antenna. t , use formula (1.3) (1.4) (1.5) to calculate the vertical angle and horizontal angle of each transmitting antenna and receiving antenna, respectively recorded as Use formula (1.6) (1.7) to obtain the transmission direction gain matrix

[0166] Step 205: Calculate the delay between the receiving antenna and the transmitting antenna. The formula is as follows:

[0167]

[0168] Among them, τ L represents the time delay, len represents the distance between the receiving antenna and the transmitting antenna, in meters, and c represents the speed of light. Substituting the above variables into formula (1.11), we get

[0169] Step 206: and Rice factor K R (t) is substituted into formula (1.18) to obtain the small-scale fading H s , calculate the path loss PL, the calculation formula is as follows:

[0170]

[0171] Among them, G l is the gain product of the receiving antenna and the transmitting antenna, λ is the wavelength, and d is the distance. s Substitute into formula (1.19) to calculate the channel H;

[0172] Step 207: Substitute H into formula (1.20) to calculate the channel capacity C between the receiving antenna and the transmitting antenna.

[0173] It should be understood that Figure 8 The loading order of the antennas (models) is adjustable and can be set according to the needs of the user or implementer.

[0174] The schematic results after modeling and simulation based on the above examples can be seen Figure 9-12 ,in, Fig. 9 The channel capacity changes of the overall channel of the robot body MISO wireless channel under different SNRs and bandwidths when using the Radial 6.0Hz antenna are shown. Fig.10The overall channel capacity of the robot body MISO wireless channel capacity under different SNRs and bandwidths is shown when using the patchMicrostripEnotch6.0Hz antenna. It can be seen that when the bandwidth is 60MHz, 80MHz, and 100MHz, the channel capacity increases with the increase of SNR. It can be seen that for applications that need to transmit large amounts of data, choosing a higher bandwidth and optimizing SNR conditions will be an ideal choice.

[0175] Fig.11 The changes in channel capacity of some antenna components at different robot positions are shown under the Radial 6.0Hz antenna. Fig.12 The changes in the channel capacity of some antenna components under the patchMicrostripEnotch6.0Hz antenna at different robot postures are shown. The results show that the channel capacity of the head is relatively stable and maintained at a high level under the Radial6.0Hz antenna, while the channel capacity of the right hand and left foot fluctuates significantly with the changes in the robot's different postures. This fluctuation may be due to the change in the signal propagation path caused by the robot's movement and the change in relative position between the chest. For example, when the robot's hands or feet are at a farther position, the channel capacity may decrease, while when these parts are closer to the transmission source or in a more open space, the channel capacity may increase. When designing a robot, consider placing the antenna module on the head because the head channel capacity is relatively stable. In addition, setting different antennas and understanding the impact of different postures on channel capacity can help engineers predict the communication performance of robots in complex environments.

[0176] In general, the advantages of the method of the present invention include at least:

[0177] 1. The channel state information is calculated by combining the position and direction of the antenna model obtained by the three-dimensional spatial posture simulation of the robot model, which can obtain the robot body channel state information in the scene where the robot posture changes, which is more flexible;

[0178] 2. Use a modeling method based on mathematical models and spatial posture simulation to calculate the robot body wireless channel state information, reducing the software and hardware resource overhead and time cost required in actual testing;

[0179] 3. The existing body-domain wireless channel modeling has not yet taken into account the impact of different antenna types. Since the gains of different antennas in different directions are different, the selection of antennas has an impact on the robot body-domain wireless channel modeling. To this end, the method of the present invention allows users to select the required type of antenna model and load it onto the robot model for simulation. As the posture of the robot model changes, the current channel state can be simulated in real time, which is conducive to understanding the propagation characteristics of the signal in the robot body and analyzing the impact of the layout of the antenna module on the channel;

[0180] 4. Based on the 6G universal channel model, channel modeling corresponding to different antenna types and different frequency bands in the robot body wireless communication scenario can be realized, which is more universal.

[0181] It should be noted that although the above describes the various steps in a specific order, it does not mean that the various steps must be executed in the above specific order. In fact, some of these steps can be executed concurrently or even in a different order as long as the required functions can be achieved.

[0182] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0183] Computer readable storage medium can be a tangible device that holds and stores instructions used by an instruction execution device. Computer readable storage medium can include, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a protruding structure in a groove on which instructions are stored, and any suitable combination thereof.

[0184] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for modeling and simulating a robot body channel, characterized in that: include: Obtaining a robot model constructed for the simulated robot, the robot model comprising a plurality of components and associated components being movably connected via joints; Obtain a constructed antenna library, which includes a variety of antenna modules for selection, and each antenna module can be used to simulate the radiation characteristics of the antenna model it represents; Provide an interactive interface that can display the robot model and antenna module from the user's desired perspective, and a functional module that can receive user operations to install the antenna module selected from the antenna library to the relevant components of the robot model in the desired position and direction; The robot model is controlled to adjust its posture and drive the antenna modules on the components to adjust their positions and directions. The wireless channels between the antenna modules that need to communicate are simulated based on the adjusted posture and the corresponding radiation characteristics of the antenna modules, and the state of the wireless channels within the robot model body under this posture is evaluated.

2. The method according to claim 1, characterized in that Each antenna module includes a base for representing the antenna body and a direction indicator for setting the directionality of the antenna. When installing the antenna module, an interactive interface is provided to visually display the base and direction indicator of the antenna module. The components and positions to which the antenna module is attached are set by deploying the base, and the direction of the antenna module is set by adjusting the orientation of the direction indicator.

3. The method according to claim 2, characterized in that Each antenna module also includes a directional diagram for indicating the radiation characteristics of the antenna model it represents, wherein each directional indicator of the antenna module is associated one-to-one with a corresponding direction in the directional diagram.

4. The method according to claim 1, characterized in that: The process of evaluating the state of the wireless channel in the robot model body area at the posture includes: Acquire multiple bandwidths and multiple signal-to-noise ratios to generate bandwidth-signal-to-noise ratio combinations to be simulated according to user needs; According to each combination to be simulated, the channel state between the antenna modules that need to communicate is evaluated, and the channel state includes the overall total channel capacity and / or average channel capacity under the combination, and / or the channel capacity of each sub-channel formed between the antenna modules that need to communicate.

5. The method according to claim 1, characterized in that The process of evaluating the state of the wireless channel in the robot model body area at the posture includes: Control the movement of the robot model and sample multiple poses during the movement; Based on each sampled posture, the state of the wireless channel in the robot model body under the posture is evaluated respectively; Based on the timing of the sampled postures, the changes in the state of the wireless channel in the body area during the movement of the robot model are graphically displayed, or based on the timing of the sampled postures, the changes in the state of the wireless channel in the body area during the movement of the robot model and the changes in the posture of the corresponding robot are graphically displayed in association.

6. The method according to claim 1, characterized in that The antenna modules in the antenna library include multiple antenna models based on 6G technology, which are used to simulate the 6G channel status within the robot body; and / or The antenna modules in the antenna library include a variety of antenna models for communication based on centimeter waves, which are used to simulate the channel state of communication based on centimeter waves within the robot body.

7. The method according to any one of claims 1 to 6, characterized in that: The multiple antenna modules arranged on the robot model are used to simulate the channel state of SISO, SIMO, MISO or MIMO channels.

8. The method according to any one of claims 1 to 6, characterized in that: The robot model is a model for simulating a humanoid robot, and the plurality of components include components corresponding to the head, neck, shoulders, chest and abdomen, arms, hands, legs and feet of the humanoid robot; or The robot model is a model used to simulate an animal-shaped robot, and the multiple components include components corresponding to the head, neck, torso, legs and feet of the animal-shaped robot.

9. A computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.

10. An electronic device, characterized in that: include: one or more processors; as well as A memory, wherein the memory is used to store executable instructions; The one or more processors are configured to implement the steps of the method of any one of claims 1-8 by executing the executable instructions.

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